Method and System for Calculating an Energy Efficient Route

ABSTRACT

A method and system for calculating an energy efficient route is disclosed. A route calculation application calculates one or more routes from an origin to a destination. For each of the routes, the route calculation application uses segment cost data associated with each segment in the route. The segment cost is calculated by adjusting an energy consumption value by subtracting a bias term for each segment with known slope data. The bias term causes segment costs associated with segments having a slope that can be traveled with typical efficiency, a zero slope, and an unknown slope to be substantially the same. The bias term also causes the segment cost associated with a segment with a slope that can be traveled efficiently to be less than the segment cost associated with a segment with unknown slope, and the segment cost associated with a segment with a slope that causes inefficient travel to be greater than the segment cost associated with a segment with unknown slope.

FIELD

The present invention relates generally to energy efficient routing, andmore particularly, relates to cost values used by a routing algorithm tocalculate an energy efficient route.

BACKGROUND

Navigation systems are available that provide end users with variousnavigation-related functions and features. For example, some navigationsystems are able to determine an optimum route to travel along a roadnetwork from an origin location to a destination location in ageographic region. Using input from the end user, and optionally fromequipment that can determine the end user's location (such as a GPSsystem), the navigation system can examine various potential routesbetween the origin and destination locations to determine the optimumroute.

The navigation system may then provide the end user with informationabout the optimum route in the form of guidance that identifies thedriving maneuvers required to be taken by the end user to travel fromthe origin to the destination location. The guidance may take the formof visual and/or audio instructions that are provided along the way asthe end user is traveling the route. Some navigation systems are able toshow detailed maps on displays outlining the route, the types ofmaneuvers to be taken at various locations along the route, locations ofcertain types of features, and so on.

In order to provide these and other navigation-related functions andfeatures, navigation systems use geographic data. The geographic datamay be in the form of one or more geographic databases that include datarepresenting physical features in the geographic region. Roads in thegeographic region may be represented in the geographic database with oneor more road segments. Each road segment is associated with two nodes;one node represents the point at one end of the road segment and theother node represents the point at the other end of the road segment.Alternatively, roads may be represented with curves, such as spline,Bezier, and clothoid curves.

The geographic database also includes information about the representedroads, such as one-way streets, position of the roads, speed limitsalong portions of roads, address ranges along the road portions, turnrestrictions at intersections of roads, direction restrictions, such asone-way streets, and so on. Additionally, the geographic data mayinclude points of interests, such as businesses, facilities,restaurants, hotels, airports, gas stations, stadiums, police stations,and so on.

Although navigation systems provide many important features, therecontinues to be room for new features and improvements. For example,some navigation systems calculate routes to minimize the vehicle's fuelor energy consumption. Such a route is sometimes referred to as a “greenroute.” There are many factors that determine a vehicle's fuel or energyconsumption as the vehicle travels along a particular route. Thesefactors include speed of travel, traffic light and sign locations,weather, and road surface type, slope, and curvature.

To calculate an energy efficient route, the navigation system uses aroute calculation algorithm, such as the Dijkstra or the A* searchalgorithm. These search algorithms use a segment cost to calculate aroute. For energy efficient routing, the segment cost is based on theroad properties of the represented road and how these road propertiesimpact fuel or energy consumption. The route calculation algorithmevaluates road segments from an origin to a destination and identifiesthe route with the least total cost.

SUMMARY

A computer-implemented method for calculating a segment cost to use witha least-cost routing algorithm for energy efficient routing isdescribed. The method includes obtaining an energy consumption value fora road segment and determining whether slope data is available for theroad segment. If slope data is available for the road segment, themethod also includes adjusting the energy consumption value bysubtracting a bias amount. The bias amount is equal to the roadsegment's altitude difference (a positive value for uphill and anegative value for downhill) multiplied by an energy factor. The methodalso includes using the adjusted energy consumption value as a segmentcost during route calculation. If slope data is not available for theroad segment, the method further includes using the energy consumptionvalue as the segment cost during route calculation.

Obtaining an energy consumption value may include using a lookup tableof energy consumption values. The data in the lookup table may becalculated using physical modeling of the road segment. Additionally oralternatively, the data in the lookup table may be collected as vehiclestravel on the road segment.

The energy factor may be the derivative of energy consumption withrespect to the altitude difference at a typical speed and zero slope.Alternatively, the energy factor may be equal to e=m*g*η_(typical),where m is vehicle mass, g is the Earth's gravity, and η_(typical) istypical engine efficiency. Other values for the energy factor may beused.

As a result, if the road segment's slope is equal to zero (i.e., a levelroad segment), the segment cost is equal to a segment cost of anotherroad segment with no associated slope data. If the road segment has aslope that can be traveled with typical efficiency, the segment cost isequal to a segment cost of another road segment with no associated slopedata. If the road segment has a slope that can be traveled efficiently,the segment cost is less than a segment cost of another road segmentwith no associated slope data. If the road segment has a slope thatcauses inefficient travel, the segment cost is greater than a segmentcost of another road segment with no associated slope data.

A computer-implemented method for calculating an energy efficient routeis also described. The method includes obtaining an origin and adestination associated with a road network. The method also includescalculating an energy efficient route from the origin to the destinationusing a least-cost routing algorithm and a segment cost associated withenergy consumed when driving on a road segment. The segment costaccounts for how a road segment's slope impacts travel efficiency on theroad segment when slope data is available for the road segment.

A navigation system that calculates an energy efficient route is alsodescribed. The navigation system includes a user interface that allows auser to request route information from a first location to a secondlocation. The navigation system also includes a map database thatincludes geographic data for a geographic area that includes the firstand second locations. The geographic database includes slope data forsome road segments that represent roads in the geographic area. Thenavigation system also includes a processor that executes a routecalculation application that calculates a route that minimizes energyconsumption when traveling from the first location to the secondlocation. The route is calculated using segment costs. The segment costsfor road segments having associated slope data are calculated bysubtracting a bias amount from an energy consumption value. The biasamount is equal to the road segment's altitude difference multiplied byan energy factor.

These as well as other aspects and advantages will become apparent tothose of ordinary skill in the art by reading the following detaileddescription, with reference where appropriate to the accompanyingdrawings. Further, it is understood that this summary is merely anexample and is not intended to limit the scope of the invention asclaimed.

BRIEF DESCRIPTION OF THE DRAWINGS

Presently preferred embodiments are described below in conjunction withthe appended drawing figures, wherein like reference numerals refer tolike elements in the various figures, and wherein:

FIG. 1 is a block diagram of a navigation system, according to anexample;

FIG. 2 shows a map of a geographic region, according to an example;

FIG. 3 is a block diagram of a geographic database that includes datathat represents the geographic region of FIG. 2, according to anexample;

FIG. 4A depicts energy consumption when a vehicle travels on roadshaving various slope efficiencies, according to an example;

FIG. 4B depicts segment cost when a vehicle travels on roads havingvarious slope efficiencies, according to an example; and

FIG. 5 is a flow chart of a method for calculating segment cost for usein energy efficient routing, according to an example.

DETAILED DESCRIPTION I. Navigation System

FIG. 1 is a block diagram of a navigation system 10 associated with acomputing platform 12. The computing platform 12 may be associated witha vehicle. Additionally, the computing platform 12 may be a personaldigital assistant (PDA), mobile telephone, personal computer, or anyother computer. The navigation system 10 is a combination of hardwareand software components. In one embodiment, the navigation system 10includes a processor 14, a drive 16 connected to the processor 14, and anon-volatile memory storage device 18 for storing navigation applicationsoftware programs 20 and possibly other information.

The navigation system 10 also includes a positioning system 22. Thepositioning system 22 may utilize GPS-type technology, a deadreckoning-type system, or combinations of these or other systems, whichare known in the art. The positioning system 22 may include suitablesensing devices that measure the traveling distance speed, direction,orientation, and so on. The positioning system 22 may also include a GPSsystem. The positioning system 22 outputs a signal to the processor 14.The navigation application software programs 20 that run on theprocessor 14 use the signal from the positioning system 22 to determinethe location, direction, orientation, etc., of the computing platform12.

The navigation system 10 also includes a user interface 24 that allowsthe end user to input information into the navigation system 10 andobtain information from the navigation system 10. The input informationmay include a request for navigation features and functions of thenavigation system 10. To provide navigation features and functions, thenavigation system 10 uses a geographic database 26.

In one embodiment, the geographic database 26 is stored on a storagemedium, such as a CD-ROM or DVD, that is installed in the drive 16 sothat the geographic database 26 can be read and used by the navigationsystem 10. In one embodiment, the navigation system 10 also includes astorage device 28, such as a hard disk or memory card, on which aportion or the entire geographic database 26 is stored. In oneembodiment, the geographic database 26 may be a geographic databasepublished by NAVTEQ North America, LLC of Chicago, Ill.

The geographic database 26 does not have to be physically provided atthe location of the navigation system 10. In alternative embodiments,some or the entire geographic database 26 may be located remotely fromthe rest of the navigation system 10 and portions of the geographic dataprovided via a communications system 30, as needed.

In one exemplary type of system, the navigation application softwareprograms 20 load from the non-volatile memory storage device 18 into arandom access memory (RAM) 32 associated with the processor 14. Thenavigation system 10 uses the geographic database 26 stored on thestorage medium and/or storage device 28, possibly in conjunction withthe outputs from the positioning system 22 and the communications system30, to provide various navigation features and functions.

The navigation application software programs 20 may include separateapplications (or subprograms) that provide the variousnavigation-related features and functions. The navigation functions andfeatures may include route calculation 34 (wherein a route from anorigin to a destination is determined), route guidance 36 (whereindetailed directions are provided for reaching a desired destination),map display 38, and positioning 40 (e.g., map matching). Other functionsand programming 42 may be included in the navigation system 10. Whilethe description later describes some examples using the A* or theDijkstra routing algorithms, the route calculation application 34 may beany type of application capable of route calculation.

The processor 14 also receives input from the user interface 24. Forexample, a user of the navigation system 10 may enter an origin and adestination via the user interface 24. Alternatively, the navigationsystem may use its current position from the positioning system 22 asthe origin. In this example, the positioning application 40 performs mapmatching to determine what road segment represents the navigationsystem's position on the road network.

The navigation application software programs 20 may be written in asuitable computer programming language such as C, although otherprogramming languages, such as C++ or Java, are also suitable. All ofthe components described above may be conventional (or other thanconventional) and the manufacture and use of these components are knownto those of skill in the art.

II. Geographic Database

FIG. 2 shows a map 50 of a geographic region 52. The geographic region52 may correspond to a metropolitan or rural area, a state, a country,or combinations thereof, or any other area of comparable size. Locatedin the geographic region 52 are physical geographic features, such asroads, points of interest (including businesses, facilities, etc.),lakes, rivers, railroads, municipalities, etc.

FIG. 2 also includes an enlarged map 54 of a portion 56 of thegeographic region 52. The enlarged map 54 illustrates part of the roadnetwork 58 in the geographic region 52. The road network 58 includes,among other things, roads and intersections located in the geographicregion 52. As shown in the portion 56, each road in the geographicregion 52 is composed of one or more road segments 60. A road segment 60represents a portion of the road. Each road segment 60 is shown to haveassociated with it two nodes 62; one node represents the point at oneend of the road segment and the other node represents the point at theother end of the road segment. The node at either end of a road segmentmay correspond to a location at which the road meets another road, i.e.,an intersection, or where the road dead-ends.

FIG. 3 is a block diagram depicting of some of the data attributes forroad segment data records 300 that may be found in the geographicdatabase 26. The data attributes depicted in FIG. 3 include segmentidentification 302, speed category 304, road type 306, segmentcharacteristics 308, and segment cost 310. The segment data attributesalso include references to node data records in the form of nodeidentification 312, 314 corresponding to endpoints of the segment. Asthis is not an exhaustive list of all the data attributes for the roadsegment data records, FIG. 3 also depicts other attributes 316.

The road segment data record 300 includes a segment ID 302 by which thedata record can be identified in the geographic database 26. The segmentID 302 may be a numeric code, an alpha-numeric code, or any other stringof numbers, letters, and/or symbols that can be used to identify therecord.

The speed category attribute 304 represents the general speed trend of aroad based on posted or implied speed limit. The speed categoryattribute 304 may contain data associated with the speed limit.Additionally or alternatively, the speed category attribute 304 maycontain data associated with a speed range. For example, the speedcategory attribute 304 may include a data representation of the integer1 for speeds exceeding 80 mph, the integer 2 for speeds in the range of65-80 mph, the integer 3 for speeds in the range of 55-64 mph, and so onuntil the speed range includes 0 mph. The road type attribute 306represents the type of road the segment represents. For example, theroad type attribute 306 may contain data associated with an interstatehighway, a controlled access highway, a city street, a pedestrianwalkway, and so on. For example, the road type attribute 306 may containfunctional class data, which defines the road type.

The segment characteristic attribute 308 contains data that representvarious characteristics of the segment. For example, the segmentcharacteristic attribute 308 may identify whether a segment is a ramp, abridge, a tunnel, a roundabout, and so on. The segment characteristicattribute 308 may also include data representing road surface type(e.g., concrete, asphalt, gravel) of the represented road segment. Thesegment characteristic attribute 308 may also include slope and/orcurvature data for the segment. The segment cost attribute 310 includesa value or code representing a cost for traveling on the segment. Forpurposes of this description, the cost is related to a vehicle'sexpected fuel and/or energy consumption when traveling on the segment.It is understood that the segment cost attribute 310 may include datafor other costs, such as costs used for calculating the shortest orfastest route. It is also understood that the segment cost may becalculated during route calculation and not necessarily stored in thegeographic database 26. The segment cost is further described withreference to FIGS. 4-5.

III. Accommodating Slope in Energy Efficient Routing Calculations

Generally, route calculation involves determining an optimum route froma start location to a destination location. A route may be consideredthe “optimum” route based on different route qualities, such asshortest, fastest, and most energy efficient. To determine the optimumroute, the route calculation algorithm minimizes route cost, where“cost” in this context is a generic expression for the quantity (e.g.,time, distance, or energy) to be minimized. The route cost also may bebased on a combination of such quantities. The cost is typicallycalculated for each road segment along the route and the cost of a routeis the sum of the costs for all its road segments.

For energy efficient routing, the route calculation algorithm determinesa route that minimizes energy and/or fuel consumption. An electricvehicle consumes energy, not fuel. For a fossil-fueled vehicle, energyconsumption is approximately the same as fuel consumption. For afossil-fueled vehicle, CO₂ production is proportional to fuelconsumption. This holds true for electric vehicles that are partiallypowered by fossil fuels. For purposes of the remaining description, theterm energy consumption is used, but it is understood that the term fuelconsumption is also appropriate for some vehicles. The amount of energyconsumed by a vehicle while traveling on a road is impacted by the slopeof that road. However, when road segment cost for energy efficientrouting is calculated based on slope, several problems may occur duringroute calculation. For example, it is possible to travel downhillwithout consuming energy. As a result, there is no minimum energyconsumption per distance, which violates one of the basic assumptions ofthe A* routing algorithm. In this scenario, the A* routing algorithmdegrades into the Dijkstra routing algorithm, which is less efficient.Alternatively, if one uses the A* routing algorithm with an assumedminimum energy consumption value, the calculated route may not be theoptimum energy efficient route as the algorithm may overlook a routecontaining road segments with lower energy consumption per distance thanthe assumed minimum energy consumption value.

As another example, electric vehicles with regenerative braking mayexperience negative energy consumption. However, a negative costviolates one of the basic assumptions of the Dijkstra routing algorithm.In this situation one could use a different algorithm, which greatlyincreases the computational complexity of the least-cost routingcalculation. Alternatively, one could continue to use the Dijkstrarouting algorithm by ignoring the negative energy consumption, whichmeans the calculated optimum route may not be the most energy efficientroute.

Further problems occur when slope values are not known for all roadsegments. Typically, when a slope is unknown for a road segment, therouting algorithm assumes zero slope for the energy consumptionestimation. As a result, when going uphill, the cost of a road withknown slopes seems higher than the cost of a road with unknown slopes.Since more data is usually available for major roads, the routecalculation algorithm may calculate a route that leaves a major road atthe foot of a hill and goes up the hill on minor roads. When goingdownhill, the cost of a road with known slopes seems less than the costof a road with unknown slopes. As a result, the route calculationalgorithm may include detours to use a road with a known slope goingdownhill.

While many problems may occur when using slope data to calculate anenergy efficient route, slopes have an important influence on energyconsumption. What is needed is a better way to use the available slopedata. Thus, what is proposed is to modify how the segment cost iscalculated. The segment cost is calculated by subtracting a bias termfrom per-segment energy consumption for segments with known slope data.If the end of a segment has a higher elevation than the start of thesegment, a positive bias term is subtracted from the segment energyconsumption. If the end of the segment has a lower elevation than thestart of the segment, a negative bias term is subtracted from thesegment energy consumption, resulting in an increased segment cost.

IV. Calculating Segment Cost for Energy Efficient Routing

E_(segment) is the energy needed to travel on a road segment.E_(segment) can be split into the amount of energy that the vehicleexpends on an equal length segment without any slope E_(level) and theamount of energy expended due to an altitude difference E_(altitude),which can be positive or negative.

E _(segment) =E _(level) +E _(altitude)  (Equation 1)

E_(level) and E_(segment) may be determined by various means, such asusing lookup tables or physical modeling. Thus, E_(altitude) may bedetermined as the difference E_(segment)-E_(level).

The altitude part of the road segment energy can be divided into atypical and a specific part.

E _(altitude) =E _(typical) +E _(specific)  (Equation 2)

The typical part depends on the altitude difference h (i.e., h₂-h₁,where h₁ is the start altitude and h₂ is the end altitude) and a typicalaltitude energy factor e as shown in Equation 3.

E _(typical) =e*h  (Equation 3)

The selection of a value for the typical altitude energy factor e is amatter of choice within limits. The limits include that the typicalaltitude energy factor e is fixed and positive. Additional limits on thechoice of e as well as some guidelines for choosing a value for e arefurther provided in Section V. The altitude difference and E_(typical)are positive when going uphill and negative when going downhill.

The specific part E_(specific) describes that traveling on some slopedroad segments is relatively energy efficient or inefficient as depictedat the top of FIG. 4. In FIG. 4A, energy consumption or gain 400(depicted as an arrow) is shown for a level road, a typical ascent ordecent, an inefficient ascent or decent, and an efficient ascent ordescent. For each of these scenarios, FIG. 4A depicts E_(level) 402,E_(typical) 404, and E_(specific) 406.

As seen in FIG. 4A, the specific part may be positive or negative bothfor uphill or downhill roads. A positive E_(specific) means that on thisroad segment the vehicle expends more energy (or saves less energy) thanusual for the altitude difference. A negative E_(specific) means that onthis road segment the vehicle expends less energy (or saves more energy)than usual for the altitude difference.

FIG. 4B depicts segment costs 408 as an arrow. For using the segmentcost in a least-cost routing algorithm, E_(typical) can be dropped fromconsideration because the sum of E_(typical) for all road segments alonga route is equal to e*h_(total) for any route from the given start tothe given destination. So by dropping E_(typical), the total cost forevery route is changed by the same amount. As a result, the differencesbetween costs for two routes remain unchanged and the choice of aleast-cost route is unchanged.

From FIG. 4B, segment cost can be defined as:

C _(segment) =E _(level) +E _(specific)  (Equation 4)

Rearranging Equation 2 results in E_(specific)=E_(altitude)−E_(typical).Inserting the value of E_(typical) from Equation 3 into this rearrangedequation results in:

E _(specific) =E _(altitude) −e*h  (Equation 5)

Inserting Equation 5 into Equation 4, results in:

C _(segment) =E _(level) +E _(altitude) −e*h  (Equation 6)

Equation 6 can be further reduced by inserting Equation 1 into Equation6, resulting in Equation 7, which describes how to calculate the segmentcost.

C _(segment) =E _(segment) −e*h  (Equation 7)

E_(segment) can be determined by various means from information storedin a geographic database, which may include using lookup tables orphysical modeling. Together with the choice of e, Equation 7 defines asegment cost that can be used with a least-cost routing algorithm tocompute an energy efficient route.

As seen in FIG. 4B, the cost for a road segment negotiating a slope withtypical efficiency is the same as for a level road segment. For anuphill road, formerly the cost with a known slope was higher than thecost with an unknown slope, so roads with unknown slope were preferredfor going uphill. For a downhill road, formerly the cost with a knownslope was higher than the cost with an unknown slope, so roads withunknown slope were avoided for going downhill. Now, using the formula ofEquation 7, the cost for going up or down with a typical efficiency isequal to the cost at zero or an unknown slope. There is no generalpreference anymore between a road going uphill/downhill with a typicalefficiency and a road with unknown slope.

When slope is not known for all road segments, using the formula ofEquation 7 for road segments with known slope means that using zeroslope for cost calculation when the actual slope is unknown isequivalent to just assuming the typical efficiency for the energy neededto negotiate the slope. Thus, a road going uphill/downhill in anefficient way is preferred over a road with unknown slope, and a roadwith unknown slope is preferred over a road going uphill/downhill in aninefficient way.

FIG. 5 is a flow chart of a method 500 for calculating segment cost forenergy efficient routing. The method 500 may be performed by anycombination of hardware and software. For example, the processor 14 mayexecute the route calculation application 34 stored in memory 18. Themethod 500 dynamically calculates segment cost; however, it isunderstood that the segment cost may be calculated and stored as anattribute in the geographic database 26.

At block 502, the processor 14 obtains an energy consumption value for aroad segment. The energy consumption value may be calculated based onphysical modeling of the road segment and then stored in a lookup tableor database, such as the geographic database 26. For example, the valuemay be calculated based on the altitude difference h of the segment, theassociated speed limit, the segment characteristics, and othergeographic data stored in the geographic database 26. Additionally oralternatively, the value may be obtained from energy consumption datacollected as one or more vehicles travel on the road segment. Regardlessof how the energy consumption value is obtained, the processor retrievesthe value from the table or database.

At block 504, the processor 14 determines whether slope data isavailable for the segment by reading the data stored in the segmentcharacteristic attribute 308 in the associated segment record 300. Ifslope data is available, at block 506 the processor 14 adjusts the valueobtained at block 502, as necessary, by subtracting a bias amount. Ifthe end of a segment has a higher elevation than the start of thesegment, a positive bias term is subtracted from the value obtained atblock 502. If the end of the segment has a lower elevation than thestart of the segment, a negative bias term is subtracted from the valueobtained at block 502.

At block 508, the route calculation application 34 uses the result ofthe calculation at block 506 to calculate an energy efficient route. Ifslope data is not available for a segment, at block 510, the roadsegment is assumed to be level. For a level road segment, the routecalculation application 34 uses the energy consumption value obtained atblock 502 to calculate an energy efficient route.

As a result of the method 500, the segment cost associated with asegment having a slope that can be traveled with typical efficiency isthe same as the segment cost associated with a segment with zero slopeor unknown slope. Additionally, the segment cost associated with asegment with slope that can be traveled in an efficient way (uphill ordownhill) is less than the segment cost associated with a segment withunknown slope. Moreover, the segment cost associated with a segment witha slope that causes inefficient travel (uphill or downhill) is greaterthan the segment cost associated with a segment with unknown slope.

V. The Value of the Energy Factor

The value of the energy factor e can vary as long as a single fixedvalue of e is used throughout one route calculation. However, the use ofthe A* and Dijkstra routing algorithms may limit the range of acceptablevalues for the energy factor.

In one example, the value for e may be chosen so that C_(segment) ispositive for every road segment, which allows for the use of the A* orthe Dijkstra routing algorithms. If e is too small (e.g., zero for anelectric vehicle with regenerative braking), negative costs may arisefor downhill roads (i.e., negative h). If e is too big, negative costsmay arise for uphill roads (i.e., positive h).

In another example, the value of e may be chosen to maximize the minimumcost per distance, which optimizes the performance of the A* routingalgorithm. The value of e may be also chosen to result in a reasonablelower bound of the cost per distance so that the A* routing algorithm ismore efficient than the Dijkstra routing algorithm.

In another example, the energy factor e is the derivative of the energyconsumption with respect to the altitude difference at a typical speedand zero slope, which balances the relative preferences of uphill anddownhill roads with roads of unknown slope.

In another example, the energy factor e may be defined as follows:

e=m*g*ρη _(typical)  (Equation 8)

where m is vehicle mass, g is the Earth's gravity (9.81 m/s²), andη_(typical) is a typical efficiency of an engine, which is based on theengine's properties. This value of the energy factor e may also balancethe relative preferences of uphill and downhill roads with roads ofunknown slope.

While the actual value of e does not affect route choice when all slopesare known, the energy factor has a clear effect with unknown slopes. Thevalue of e affects the trade-off for uphill versus downhill. A highvalue for e increases the preference of uphill roads over roads withunknown slope and of roads with unknown slope over downhill roads, whilea low value for e increases the preference of roads with unknown slopeover uphill roads and of downhill roads over roads with unknown slope.

VI. Alternatives

As an alternative, it may be desirable to give roads with known slope aslight preference over roads with unknown slope. For example, apreference may be given to a level road over a road where it is unknownwhether the road is flat or has slopes. This preference may be achievedby adding a penalty to the cost for roads with unknown slope. Forexample, the penalty for an unknown slope may be the additional costassociated with traveling on a road segment with a slight uphill slope.

As another alternative, the bias term may depend on absolute altitudesof the start altitude and the end altitude. In this alternative, thebias term is f(h₂)−f(h₁), where f is a monotonically increasingfunction, h₂ is an altitude of an end of the road segment, and h₁ is analtitude of a start of the road segment.

When all segments have known slope values, the bias term may begeneralized to f(v₂)−f(v₁), where v₁ and v₂ are the start and end nodesfor the segment, and f maps the nodes to real numbers. In this example,f is chosen such that after applying the bias term, all segment costsare nonnegative. The first stage of Johnson's algorithm may be used todetermine f. Johnson's algorithm finds the shortest paths between allpairs of vertices in a sparse directed graph. Johnson's algorithm allowssome of the edge weights to be negative numbers, but no negative-weightcycles may exist.

Another alternative is calculating a route that minimizes not justenergy consumption, but a combination of energy and other criteria. Theother criteria may include time, distance, tolls, number of turns, andso on. In this case, in the segment cost, the term representing theenergy can be modified as described above to avoid the same problems andto gain the same advantages as described above for an energy-minimizingroute.

While the previous description adjusts costs based on potential energy,a similar adjustment may be made based on kinetic energy. In thisalternative, the energy consumption for a segment includes the energyneeded to accelerate the vehicle from the speed at the start of asegment to the speed at the end of the segment or the energy gained bydecelerating the vehicle from the speed at the start of the segment tothe speed at the end of the segment. In this embodiment, the bias termis an energy factor multiplied by the difference in speed squared (i.e.,e(v₂ ²−v²), where v₁ is the starting speed and v₂ is the ending speed).As a result, the navigation system 10 may provide the driver with anenergy efficient route taking variations in speed into account.

VII. Conclusion

As a result of using the bias term when calculating a segment cost,previous problems encountered with energy efficient routing calculationsmay be reduced or eliminated. The bias term prevents a road segment withno slope data from being favored over a road segment that has a positiveslope. Similarly, the bias term prevents a road segment with a negativeslope from being favored over a road segment that has no slope data.Moreover, the bias term allows common routing algorithms, such as A* andDijkstra, to be used in calculating energy efficient routes for electricand hybrid vehicles.

It is intended that the foregoing detailed description be regarded asillustrative rather than limiting and that it is understood that thefollowing claims including all equivalents are intended to define thescope of the invention. The claims should not be read as limited to thedescribed order or elements unless stated to that effect. Therefore, allembodiments that come within the scope and spirit of the followingclaims and equivalents thereto are claimed as the invention.

1. A computer-implemented method for calculating segment cost for energyefficient routing, comprising: obtaining an energy consumption value fora road segment; determining whether slope data is available for the roadsegment; if slope data is available for the road segment, adjusting theenergy consumption value by subtracting a bias amount, wherein the biasamount is equal to the road segment's altitude difference multiplied byan energy factor; and using the adjusted energy consumption value as asegment cost during route calculation.
 2. The method of claim 1, whereinobtaining an energy consumption value includes using a lookup table ofenergy consumption values.
 3. The method of claim 2, wherein the data inthe lookup table is collected as vehicles travel on the road segment. 4.The method of claim 1, wherein obtaining an energy consumption valueincludes physical modeling of the road segment.
 5. The method of claim1, wherein if slope data is not available for the road segment, furthercomprising using the energy consumption value as the segment cost duringroute calculation.
 6. The method of claim 1, wherein the energy factoris a derivative of energy consumption with respect to the altitudedifference at a typical speed and zero slope.
 7. The method of claim 1,wherein the energy factor is e=m*g*η_(typical), where m is vehicle mass,g is the Earth's gravity, and η_(typical) is typical efficiency of anengine.
 8. A computer-implemented method for calculating an energyefficient route, comprising: obtaining an origin and a destinationassociated with a road network; and calculating an energy efficientroute from the origin to the destination using a routing algorithm,wherein the routing algorithm uses segment costs for road segments beingevaluated by the routing algorithm, wherein if slope data is availablefor a road segment the segment cost for the road segment is equal to anenergy consumption value less a bias amount, and wherein if slope datais not available for the road segment the segment cost for the roadsegment is equal to the energy consumption value.
 9. The method of claim8, wherein the bias amount is equal to the road segment's altitudedifference multiplied by an energy factor.
 10. The method of claim 9,wherein the energy factor is a derivative of energy consumption withrespect to the altitude difference at a typical speed and zero slope.11. The method of claim 9, wherein the energy factor ise=m*g*η_(typical), where m is vehicle mass, g is the Earth's gravity,and η_(typical) is typical efficiency of an engine.
 12. The method ofclaim 9, wherein the energy factor is chosen to maximize minimum energyconsumed per distance.
 13. The method of claim 9, wherein the energyfactor is chosen so that the segment cost is positive for the roadsegments.
 14. The method of claim 8, wherein the bias amount is equal tof(h₂)−f(h₁), where f is a monotonically increasing function, h₂ is analtitude of an end of the road segment, and h₁ is an altitude of a startof the road segment.
 15. The method of claim 8, wherein the bias amountis equal to f(v₂)−f(v₁), where v₁ and v₂ are the start and end nodes forthe road segment, and f maps the nodes to real numbers.
 16. The methodof claim 8, wherein if slope data is not available for the road segmentthe segment cost for the road segment is equal to the energy consumptionvalue plus a penalty factor.
 17. The method of claim 16, wherein thepenalty factor is equal to a cost associated with traveling on a roadsegment with a slight uphill slope.
 18. A computer-implemented methodfor calculating an energy efficient route, comprising: obtaining anorigin and a destination associated with a road network; and calculatingan energy efficient route from the origin to the destination using arouting algorithm, wherein the routing algorithm uses segment costs forroad segments being evaluated by the routing algorithm, wherein if speeddata is available for start and end of a road segment, the segment costfor the road segment is equal an energy consumption value for the roadsegment less a bias amount equal to a difference of start speed squaredand end speed squared multiplied by an energy factor, wherein the energyconsumption value includes energy needed for acceleration or gained bydeceleration while traveling on the road segment.
 19. A navigationsystem that calculates an energy efficient route, comprising: a userinterface that allows a user to request route information from a firstlocation to a second location; a map database that includes geographicdata for a geographic area that includes the first and second locations,wherein the geographic database includes slope data for some roadsegments that represent roads in the geographic area; and a processorthat executes a route calculation application that calculates a routethat minimizes energy consumption when traveling from the first locationto the second location, wherein the route is calculated using segmentcosts, wherein the segment costs for road segments having associatedslope data are calculated by subtracting a bias amount from an energyconsumption value, and wherein the bias amount is equal to the roadsegment's altitude difference multiplied by an energy factor.
 20. Thenavigation system of claim 19, wherein the route calculation applicationminimizes energy consumption in combination with at least one othercriterion selected from the group consisting of distance and speed.